Development of a dexterous cable driven spine mechanism for humanoid robots

Shih Yu Liu*, Teng-Hu Cheng, Jiu Lou Yan, Han Pang Huang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

In order to achieve more vivid human-like motion, a 3-DOF spine mechanism is developed. Two degrees of freedom (pitch and roll) are driven by three cables and the other one (yaw) is driven by gear and pulley. The mechanism is light-weighted and is capable of sustaining heavy load. Kinematics analysis is used to calculate the length change of the three cables while bending the spine mechanism. In spite of the accurate cable length control, the spine structure might still vibrate. To deal with this problem, the virtual work model method is proposed to compensate the three cable forces. In this way, the whole spine structure can act firmly. The performance of the proposed spine mechanism is justified with the simulations and experiments.

Original languageEnglish
Title of host publication2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Pages1588-1593
Number of pages6
DOIs
StatePublished - 4 Nov 2009
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Duration: 14 Jul 200917 Jul 2009

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
CountrySingapore
CitySingapore
Period14/07/0917/07/09

Keywords

  • Humanoid robot
  • Mechanical design
  • Robot spine
  • Robot torso

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